﻿using System;
using System.Collections;
using System.Collections.Generic;
using System.IO.Ports;
using System.IO;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace thinger.AutomaticStoreMotionDAL
{

    public class ModbusRTU
    {
        #region 对象或属性
        //定义串口通信的对象
        private SerialPort _serialPort = new SerialPort();

        //创建通信超时属性
        public int ReadTimeOut { get; set; } = 2000;
        public int WriteTimeOut { get; set; } = 2000;

        //读取返回报文超时时间
        public int ReceiveTimeOut { get; set; } = 2000;

        //字节顺序
        public DataFormat DataFormat { get; set; } = DataFormat.ABCD;

        #endregion

        #region 串口通信的打开和关闭
        public void OpenSerialPort(string portName, int baudRate, Parity parity, int dataBits, StopBits stopBits)
        {
            if (_serialPort.IsOpen)
            {
                _serialPort.Close();
            }
            _serialPort.PortName = portName;
            _serialPort.BaudRate = baudRate;
            _serialPort.Parity = parity;
            _serialPort.DataBits = dataBits;
            _serialPort.StopBits = stopBits;

            //设置超时时间
            _serialPort.ReadTimeout = ReadTimeOut;
            _serialPort.WriteTimeout = WriteTimeOut;

            //打开串口
            _serialPort.Open();
        }

        public void CloseSerialPort()
        {
            if (_serialPort.IsOpen)
            {
                _serialPort.Close();
            }
        }
        #endregion

        //**********读写操作*************
        #region 读取输出线圈 功能码01H
        /// <summary>
        /// 读取输出线圈
        /// </summary>
        /// <param name="slaveAddress">从站地址</param>
        /// <param name="startAddress">起始地址</param>
        /// <param name="rwLength">长度</param>
        /// <returns></returns>
        public byte[] ReadOutputStatus(int slaveAddress, int startAddress, int rwLength)
        {
            //第一步：拼接报文
            ByteArray byteArray = new ByteArray();
            byteArray.Add(new byte[] { (byte)slaveAddress, 0x01, (byte)(startAddress / 256), (byte)(startAddress % 256) });
            byteArray.Add(new byte[] { (byte)(rwLength / 256), (byte)(rwLength % 256) });
            byteArray.Add(CRC16(byteArray.Bytes, 6));
            byte[] sendCommand = byteArray.Bytes;

            //第二步：发送报文 接受报文
            int byteLength = 0;
            if (rwLength % 8 == 0)
            {
                byteLength = rwLength / 8;
            }
            else
            {
                byteLength = rwLength / 8 + 1;
            }

            byte[] response = new byte[byteLength + 5];

            if (SendData(sendCommand, ref response))
            {
                //第三步：解析报文
                if (response[1] == sendCommand[1] && response[2] == byteLength)
                {
                    return GetByteArray(response, 3, byteLength);
                }
                else
                {
                    return null;
                }
            }
            else
            {
                return null;
            }
        }
        #endregion

        #region 读取输出线圈 功能码02H
        /// <summary>
        /// 读取输入线圈
        /// </summary>
        /// <param name="slaveAddress">从站地址</param>
        /// <param name="startAddress">起始地址</param>
        /// <param name="rwLength">长度</param>
        /// <returns></returns>
        public byte[] ReadInputStatus(int slaveAddress, int startAddress, int rwLength)
        {
            //第一步：拼接报文
            ByteArray byteArray = new ByteArray();
            byteArray.Add(new byte[] { (byte)slaveAddress, 0x02, (byte)(startAddress / 256), (byte)(startAddress % 256) });
            byteArray.Add(new byte[] { (byte)(rwLength / 256), (byte)(rwLength % 256) });
            byteArray.Add(CRC16(byteArray.Bytes, 6));
            byte[] sendCommand = byteArray.Bytes;


            //第二步：发送报文 接受报文
            int byteLength = 0;
            if (rwLength % 8 == 0)
            {
                byteLength = rwLength / 8;
            }
            else
            {
                byteLength = rwLength / 8 + 1;
            }

            byte[] response = new byte[byteLength + 5];

            if (SendData(sendCommand, ref response))
            {
                //第三步：解析报文
                if (response[1] == sendCommand[1] && response[2] == byteLength)
                {
                    return GetByteArray(response, 3, byteLength);
                }
                else
                {
                    return null;
                }
            }
            else
            {
                return null;
            }
        }
        #endregion

        #region 读取保存寄存器 功能码03H
        public byte[] ReadKeepReg(int slaveAddress, int startAddress, int rwLength)
        {
            //第一步：拼接报文
            ByteArray byteArray = new ByteArray();
            byteArray.Add(new byte[] { (byte)slaveAddress, 0x03, (byte)(startAddress / 256), (byte)(startAddress % 256) });
            byteArray.Add(new byte[] { (byte)(rwLength / 256), (byte)(rwLength % 256) });
            byteArray.Add(CRC16(byteArray.Bytes, 6));
            byte[] sendCommand = byteArray.Bytes;

            //第二步：发送报文 接受报文
            int byteLength = 0;
            byteLength = rwLength * 2;


            byte[] response = new byte[byteLength + 5];

            if (SendData(sendCommand, ref response))
            {
                //第三步：解析报文
                if (response[1] == sendCommand[1] && response[2] == byteLength)
                {
                    return GetByteArray(response, 3, byteLength);
                }
                else
                {
                    return null;
                }
            }
            else
            {
                return null;
            }
        }
        #endregion

        #region 读取输入寄存器 功能码04H
        public byte[] ReadInputReg(int slaveAddress, int startAddress, int rwLength)
        {
            //第一步：拼接报文
            ByteArray byteArray = new ByteArray();
            byteArray.Add(new byte[] { (byte)slaveAddress, 0x04, (byte)(startAddress / 256), (byte)(startAddress % 256) });
            byteArray.Add(new byte[] { (byte)(rwLength / 256), (byte)(rwLength % 256) });
            byteArray.Add(CRC16(byteArray.Bytes, 6));
            byte[] sendCommand = byteArray.Bytes;

            //第二步：发送报文 接受报文
            int byteLength = 0;
            byteLength = rwLength * 2;


            byte[] response = new byte[byteLength + 5];

            if (SendData(sendCommand, ref response))
            {
                //第三步：解析报文
                if (response[1] == sendCommand[1] && response[2] == byteLength)
                {
                    return GetByteArray(response, 3, byteLength);
                }
                else
                {
                    return null;
                }
            }
            else
            {
                return null;
            }
        }
        #endregion

        #region 强制输出线圈 功能码05H
        /// <summary>
        /// 强制输出线圈
        /// </summary>
        /// <param name="slaveAddress">从站地址</param>
        /// <param name="startAddress">起始地址</param>
        /// <param name="setValue">线圈设定值</param>
        /// <returns></returns>
        public bool ForceCoil(int slaveAddress, int startAddress, bool setValue)
        {
            //第一步：拼接报文
            ByteArray byteArray = new ByteArray();
            byteArray.Add(new byte[] { (byte)slaveAddress, 0x05, (byte)(startAddress / 256), (byte)(startAddress % 256) });
            if (setValue)
            {
                byteArray.Add(new byte[] { 0xFF, 0x00 });
            }
            else
            {
                byteArray.Add(new byte[] { 0x00, 0x00 });
            }

            byteArray.Add(CRC16(byteArray.Bytes, 6));
            byte[] sendCommand = byteArray.Bytes;

            //第二步：发送报文 接受报文
            byte[] response = new byte[8];

            if (SendData(sendCommand, ref response))
            {
                //第三步：解析报文
                return ByteArrayEquals(sendCommand, response);
            }
            else
            {
                return false;
            }
        }
        #endregion

        #region 预制单个寄存器 功能码06H
        public bool PreSetsingleReg(int slaveAddress, int startAddress, short setValue)
        {
            //第一步：拼接报文
            ByteArray byteArray = new ByteArray();
            byteArray.Add(new byte[] { (byte)slaveAddress, 0x06, (byte)(startAddress / 256), (byte)(startAddress % 256) });
            byte[] setValueBytes = GetByteArrayFrom16Bit(setValue);
            byteArray.Add(setValueBytes);
            byteArray.Add(CRC16(byteArray.Bytes, 6));
            byte[] sendCommand = byteArray.Bytes;

            //第二步：发送报文 接受报文
            byte[] response = new byte[8];

            if (SendData(sendCommand, ref response))
            {
                //第三步：解析报文
                return ByteArrayEquals(sendCommand, response);
            }
            else
            {
                return false;
            }
        }

        public bool PreSetsingleReg(int slaveAddress, int startAddress, ushort setValue)
        {
            //第一步：拼接报文
            ByteArray byteArray = new ByteArray();
            byteArray.Add(new byte[] { (byte)slaveAddress, 0x06, (byte)(startAddress / 256), (byte)(startAddress % 256) });
            byte[] setValueBytes = GetByteArrayFrom16Bit(setValue);
            byteArray.Add(setValueBytes);
            byteArray.Add(CRC16(byteArray.Bytes, 6));
            byte[] sendCommand = byteArray.Bytes;

            //第二步：发送报文 接受报文
            byte[] response = new byte[8];

            if (SendData(sendCommand, ref response))
            {
                //第三步：解析报文
                return ByteArrayEquals(sendCommand, response);
            }
            else
            {
                return false;
            }
        }
        #endregion

        #region 强制多个输出线圈 功能码0FH
        public bool ForceMultiCoil(int slaveAddress, int startAddress, bool[] setValues)
        {
            byte[] setValueBytes = BoolArrayToByteArray(setValues);
            //第一步：拼接报文
            ByteArray byteArray = new ByteArray();
            byteArray.Add(new byte[] { (byte)slaveAddress, 0x0F, (byte)(startAddress / 256), (byte)(startAddress % 256) });
            byteArray.Add(new byte[] { (byte)(setValues.Length / 256), (byte)(setValues.Length % 256), (byte)(setValueBytes.Length) });
            byteArray.Add(setValueBytes);
            byteArray.Add(CRC16(byteArray.Bytes, 7 + setValueBytes.Length));
            byte[] sendCommand = byteArray.Bytes;

            //第二步：发送报文 接受报文
            byte[] response = new byte[8];

            if (SendData(sendCommand, ref response))
            {
                //第三步：解析报文
                byte[] temp = GetByteArray(response, 0, 6);
                byte[] crc = CRC16(temp, 6);
                return ByteArrayEquals(GetByteArray(sendCommand, 0, 6), temp) && crc[0] == response[6] && crc[1] == response[7];
            }
            else
            {
                return false;
            }
        }

        //bool数组转换成byte数组
        private byte[] BoolArrayToByteArray(bool[] setValues)
        {
            if (setValues.Length == 0 || setValues == null) return null;
            int byteLength;
            if (setValues.Length % 8 == 0)
            {
                byteLength = setValues.Length / 8;
            }
            else
            {
                byteLength = setValues.Length / 8 + 1;
            }
            byte[] result = new byte[byteLength];
            for (int i = 0; i < byteLength; i++)
            {
                for (int j = 0; j < 8; j++)
                {
                    if (i * 8 + j < setValues.Length)
                    {
                        result[i] = SetBitValue(result[i], j, setValues[i * 8 + j]);
                    }
                }
            }
            return result;
        }

        //设定字节的指定位状态
        private byte SetBitValue(byte data, int index, bool val)
        {
            if (index < 0 || index > 7) return 0;
            int v = 1 << index;
            return val ? (byte)(data | v) : (byte)(data & ~v);
        }

        #endregion

        #region 预制多个寄存器 功能码10H
        public bool PreSetMultiReg(int slaveAddress, int startAddress, byte[] setValues)
        {
            if (setValues.Length % 2 == 1 || setValues == null || setValues.Length == 0)
            {
                return false;
            }
            int regLength = (int)setValues.Length / 2;
            //第一步：拼接报文
            ByteArray byteArray = new ByteArray();
            byteArray.Add(new byte[] { (byte)slaveAddress, 0x10, (byte)(startAddress / 256), (byte)(startAddress % 256) });
            byteArray.Add(new byte[] { (byte)(regLength / 256), (byte)(regLength % 256), (byte)(setValues.Length) });
            byteArray.Add(setValues);

            byteArray.Add(CRC16(byteArray.Bytes, 7 + setValues.Length));
            byte[] sendCommand = byteArray.Bytes;

            //第二步：发送报文 接受报文
            byte[] response = new byte[8];

            if (SendData(sendCommand, ref response))
            {
                //第三步：解析报文
                byte[] temp = GetByteArray(response, 0, 6);
                byte[] crc = CRC16(temp, 6);
                return ByteArrayEquals(GetByteArray(sendCommand, 0, 6), temp) && crc[0] == response[6] && crc[1] == response[7];
            }
            else
            {
                return false;
            }
        }

        public bool PreSetMultiFloatReg(int slaveAddress, int startAddress, float setValue)
        {
            return PreSetMultiReg(slaveAddress, startAddress, GetByteArrayFrom32Bit(setValue));
        }

        public bool PreSetMultiUIntReg(int slaveAddress, int startAddress, uint setValue)
        {
            return PreSetMultiReg(slaveAddress, startAddress, GetByteArrayFrom32Bit(setValue));
        }

        public bool PreSetMultiIntReg(int slaveAddress, int startAddress, int setValue)
        {
            return PreSetMultiReg(slaveAddress, startAddress, GetByteArrayFrom32Bit(setValue));
        }

        public bool PreSetMultiShortReg(int slaveAddress, int startAddress, short setValue)
        {
            return PreSetMultiReg(slaveAddress, startAddress, GetByteArrayFrom16Bit(setValue));
        }

        public bool PreSetMultiUShortReg(int slaveAddress, int startAddress, ushort setValue)
        {
            return PreSetMultiReg(slaveAddress, startAddress, GetByteArrayFrom16Bit(setValue));
        }

        public bool PreSetMultiFloatReg(int slaveAddress, int startAddress, float[] setValue)
        {
            return PreSetMultiReg(slaveAddress, startAddress, GetByteArrayFrom32Bit(setValue));
        }

        public bool PreSetMultiUIntReg(int slaveAddress, int startAddress, uint[] setValue)
        {
            return PreSetMultiReg(slaveAddress, startAddress, GetByteArrayFrom32Bit(setValue));
        }

        public bool PreSetMultiIntReg(int slaveAddress, int startAddress, int[] setValue)
        {
            return PreSetMultiReg(slaveAddress, startAddress, GetByteArrayFrom32Bit(setValue));
        }

        public bool PreSetMultiShortReg(int slaveAddress, int startAddress, short[] setValue)
        {
            return PreSetMultiReg(slaveAddress, startAddress, GetByteArrayFrom16Bit(setValue));
        }

        public bool PreSetMultiUShortReg(int slaveAddress, int startAddress, ushort[] setValue)
        {
            return PreSetMultiReg(slaveAddress, startAddress, GetByteArrayFrom16Bit(setValue));
        }

        #endregion


        //**********读写操作公用的私有方法*************
        #region 将16位数据转换成byte数组
        private byte[] GetByteArrayFrom16Bit(short setValue)
        {
            byte[] resTemp = BitConverter.GetBytes(setValue);
            byte[] res = new byte[2];
            switch (this.DataFormat)
            {
                case DataFormat.ABCD:
                case DataFormat.CDAB:
                    res[0] = resTemp[1];
                    res[1] = resTemp[0];
                    break;
                case DataFormat.BADC:
                case DataFormat.DCBA:
                    res = resTemp;
                    break;
            }
            return res;
        }

        private byte[] GetByteArrayFrom16Bit(ushort setValue)
        {
            byte[] resTemp = BitConverter.GetBytes(setValue);
            byte[] res = new byte[2];
            switch (this.DataFormat)
            {
                case DataFormat.ABCD:
                case DataFormat.CDAB:
                    res[0] = resTemp[1];
                    res[1] = resTemp[0];
                    break;
                case DataFormat.BADC:
                case DataFormat.DCBA:
                    res = resTemp;
                    break;
            }
            return res;
        }

        private byte[] GetByteArrayFrom16Bit(short[] setValue)
        {
            ByteArray byteArray = new ByteArray();
            foreach (short val in setValue)
            {
                byte[] resTemp = BitConverter.GetBytes(val);
                byte[] res = new byte[2];
                switch (this.DataFormat)
                {
                    case DataFormat.ABCD:
                    case DataFormat.CDAB:
                        res[0] = resTemp[1];
                        res[1] = resTemp[0];
                        break;
                    case DataFormat.BADC:
                    case DataFormat.DCBA:
                        res = resTemp;
                        break;
                }
                byteArray.Add(res);
            }
            return byteArray.Bytes;
        }

        private byte[] GetByteArrayFrom16Bit(ushort[] setValue)
        {
            ByteArray byteArray = new ByteArray();
            foreach (ushort val in setValue)
            {
                byte[] resTemp = BitConverter.GetBytes(val);
                byte[] res = new byte[2];
                switch (this.DataFormat)
                {
                    case DataFormat.ABCD:
                    case DataFormat.CDAB:
                        res[0] = resTemp[1];
                        res[1] = resTemp[0];
                        break;
                    case DataFormat.BADC:
                    case DataFormat.DCBA:
                        res = resTemp;
                        break;
                }
                byteArray.Add(res);
            }
            return byteArray.Bytes;
        }

        #endregion

        #region 将32位数据转换成byte数组
        private byte[] GetByteArrayFrom32Bit(float setValue)
        {
            byte[] resTemp = BitConverter.GetBytes(setValue);
            byte[] res = new byte[4];
            switch (this.DataFormat)
            {
                case DataFormat.ABCD:
                    res[0] = resTemp[1];
                    res[1] = resTemp[0];
                    res[2] = resTemp[3];
                    res[3] = resTemp[2];
                    break;
                case DataFormat.CDAB:
                    res[0] = resTemp[3];
                    res[1] = resTemp[2];
                    res[2] = resTemp[1];
                    res[3] = resTemp[0];
                    break;
                case DataFormat.BADC:
                    res = resTemp;
                    break;
                case DataFormat.DCBA:
                    res[0] = resTemp[2];
                    res[1] = resTemp[3];
                    res[2] = resTemp[0];
                    res[3] = resTemp[1];
                    break;
            }
            return res;
        }

        private byte[] GetByteArrayFrom32Bit(uint setValue)
        {
            byte[] resTemp = BitConverter.GetBytes(setValue);
            byte[] res = new byte[4];
            switch (this.DataFormat)
            {
                case DataFormat.ABCD:
                    res[0] = resTemp[1];
                    res[1] = resTemp[0];
                    res[2] = resTemp[3];
                    res[3] = resTemp[2];
                    break;
                case DataFormat.CDAB:
                    res[0] = resTemp[3];
                    res[1] = resTemp[2];
                    res[2] = resTemp[1];
                    res[3] = resTemp[0];
                    break;
                case DataFormat.BADC:
                    res = resTemp;
                    break;
                case DataFormat.DCBA:
                    res[0] = resTemp[2];
                    res[1] = resTemp[3];
                    res[2] = resTemp[0];
                    res[3] = resTemp[1];
                    break;
            }
            return res;
        }

        private byte[] GetByteArrayFrom32Bit(int setValue)
        {
            byte[] resTemp = BitConverter.GetBytes(setValue);
            byte[] res = new byte[4];
            switch (this.DataFormat)
            {
                case DataFormat.ABCD:
                    res[0] = resTemp[1];
                    res[1] = resTemp[0];
                    res[2] = resTemp[3];
                    res[3] = resTemp[2];
                    break;
                case DataFormat.CDAB:
                    res[0] = resTemp[3];
                    res[1] = resTemp[2];
                    res[2] = resTemp[1];
                    res[3] = resTemp[0];
                    break;
                case DataFormat.BADC:
                    res = resTemp;
                    break;
                case DataFormat.DCBA:
                    res[0] = resTemp[2];
                    res[1] = resTemp[3];
                    res[2] = resTemp[0];
                    res[3] = resTemp[1];
                    break;
            }
            return res;
        }

        private byte[] GetByteArrayFrom32Bit(float[] setValue)
        {
            ByteArray byteArray = new ByteArray();
            foreach (float val in setValue)
            {
                byte[] resTemp = BitConverter.GetBytes(val);
                byte[] res = new byte[4];
                switch (this.DataFormat)
                {
                    case DataFormat.ABCD:
                        res[0] = resTemp[1];
                        res[1] = resTemp[0];
                        res[2] = resTemp[3];
                        res[3] = resTemp[2];
                        break;
                    case DataFormat.CDAB:
                        res[0] = resTemp[3];
                        res[1] = resTemp[2];
                        res[2] = resTemp[1];
                        res[3] = resTemp[0];
                        break;
                    case DataFormat.BADC:
                        res = resTemp;
                        break;
                    case DataFormat.DCBA:
                        res[0] = resTemp[2];
                        res[1] = resTemp[3];
                        res[2] = resTemp[0];
                        res[3] = resTemp[1];
                        break;
                }
                byteArray.Add(res);
            }
            return byteArray.Bytes;
        }

        private byte[] GetByteArrayFrom32Bit(uint[] setValue)
        {
            ByteArray byteArray = new ByteArray();
            foreach (uint val in setValue)
            {
                byte[] resTemp = BitConverter.GetBytes(val);
                byte[] res = new byte[4];
                switch (this.DataFormat)
                {
                    case DataFormat.ABCD:
                        res[0] = resTemp[1];
                        res[1] = resTemp[0];
                        res[2] = resTemp[3];
                        res[3] = resTemp[2];
                        break;
                    case DataFormat.CDAB:
                        res[0] = resTemp[3];
                        res[1] = resTemp[2];
                        res[2] = resTemp[1];
                        res[3] = resTemp[0];
                        break;
                    case DataFormat.BADC:
                        res = resTemp;
                        break;
                    case DataFormat.DCBA:
                        res[0] = resTemp[2];
                        res[1] = resTemp[3];
                        res[2] = resTemp[0];
                        res[3] = resTemp[1];
                        break;
                }
                byteArray.Add(res);
            }
            return byteArray.Bytes;
        }

        private byte[] GetByteArrayFrom32Bit(int[] setValue)
        {
            ByteArray byteArray = new ByteArray();
            foreach (int val in setValue)
            {
                byte[] resTemp = BitConverter.GetBytes(val);
                byte[] res = new byte[4];
                switch (this.DataFormat)
                {
                    case DataFormat.ABCD:
                        res[0] = resTemp[1];
                        res[1] = resTemp[0];
                        res[2] = resTemp[3];
                        res[3] = resTemp[2];
                        break;
                    case DataFormat.CDAB:
                        res[0] = resTemp[3];
                        res[1] = resTemp[2];
                        res[2] = resTemp[1];
                        res[3] = resTemp[0];
                        break;
                    case DataFormat.BADC:
                        res = resTemp;
                        break;
                    case DataFormat.DCBA:
                        res[0] = resTemp[2];
                        res[1] = resTemp[3];
                        res[2] = resTemp[0];
                        res[3] = resTemp[1];
                        break;
                }
                byteArray.Add(res);
            }
            return byteArray.Bytes;
        }
        #endregion

        #region 通用发送报文并接受
        private object o = new object();          //非静态字段，不同对象之间不会产生互斥
        private bool SendData(byte[] sendByte, ref byte[] response)
        {
            lock (o)
            {
                try
                {
                    //发送报文
                    _serialPort.Write(sendByte, 0, sendByte.Length);

                    //定义一个Buffer
                    byte[] buffer = new byte[1024];

                    //定义一个内存
                    MemoryStream ms = new MemoryStream();

                    //定义读取开始时间
                    DateTime dateTime = DateTime.Now;

                    while (true)
                    {

                        // [1]获取当前缓冲区的值,判断是否有值，如果有值，读取过来，放在内存中
                        if (_serialPort.BytesToRead >= 1)
                        {
                            int count = _serialPort.Read(buffer, 0, buffer.Length);
                            ms.Write(buffer, 0, count);
                        }
                        else //[2]接着再去判断，如果当前缓冲区的值为0，说明读完了
                        {
                            //[3]判断是否超时
                            if ((DateTime.Now - dateTime).TotalMilliseconds > this.ReceiveTimeOut)
                            {
                                ms.Dispose();
                                return false;
                            }
                            else if (ms.Length > 0)
                            {
                                break;
                            }
                        }
                    }
                    response = ms.ToArray();
                    ms.Dispose();
                    return true;
                }
                catch (Exception)
                {
                    //写入日志
                    return false;
                }
            }
        }
        #endregion

        #region 自定义截取字节数组
        private byte[] GetByteArray(byte[] dest, int offset, int count)
        {
            byte[] res = new byte[count];
            if (dest != null && dest.Length >= offset + count)
            {
                for (int i = 0; i < count; i++)
                {
                    res[i] = dest[offset + i];
                }
                return res;
            }
            else
            {
                return null;
            }
        }
        #endregion

        #region 判断两个字节数组是否完全相同
        private bool ByteArrayEquals(byte[] b1, byte[] b2)
        {
            if (b1 == null || b2 == null) return false;
            if (b1.Length != b2.Length) return false;
            for (int i = 0; i < b1.Length; i++)
            {
                if (b1[i] != b2[i]) return false;
            }
            return true;
        }
        #endregion

        #region CRC校验
        // 逆序CRC表
        private static readonly byte[] aucCRCHi = new byte[]  {
            0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
            0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
            0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
            0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
            0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
            0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
            0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
            0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
            0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
            0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
            0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
            0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
            0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
            0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
            0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
            0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
            0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
            0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
            0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
            0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
            0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
            0x00, 0xC1, 0x81, 0x40
        };

        private static readonly byte[] aucCRCLo = new byte[] {
            0x00, 0xC0, 0xC1, 0x01, 0xC3, 0x03, 0x02, 0xC2, 0xC6, 0x06, 0x07, 0xC7,
            0x05, 0xC5, 0xC4, 0x04, 0xCC, 0x0C, 0x0D, 0xCD, 0x0F, 0xCF, 0xCE, 0x0E,
            0x0A, 0xCA, 0xCB, 0x0B, 0xC9, 0x09, 0x08, 0xC8, 0xD8, 0x18, 0x19, 0xD9,
            0x1B, 0xDB, 0xDA, 0x1A, 0x1E, 0xDE, 0xDF, 0x1F, 0xDD, 0x1D, 0x1C, 0xDC,
            0x14, 0xD4, 0xD5, 0x15, 0xD7, 0x17, 0x16, 0xD6, 0xD2, 0x12, 0x13, 0xD3,
            0x11, 0xD1, 0xD0, 0x10, 0xF0, 0x30, 0x31, 0xF1, 0x33, 0xF3, 0xF2, 0x32,
            0x36, 0xF6, 0xF7, 0x37, 0xF5, 0x35, 0x34, 0xF4, 0x3C, 0xFC, 0xFD, 0x3D,
            0xFF, 0x3F, 0x3E, 0xFE, 0xFA, 0x3A, 0x3B, 0xFB, 0x39, 0xF9, 0xF8, 0x38,
            0x28, 0xE8, 0xE9, 0x29, 0xEB, 0x2B, 0x2A, 0xEA, 0xEE, 0x2E, 0x2F, 0xEF,
            0x2D, 0xED, 0xEC, 0x2C, 0xE4, 0x24, 0x25, 0xE5, 0x27, 0xE7, 0xE6, 0x26,
            0x22, 0xE2, 0xE3, 0x23, 0xE1, 0x21, 0x20, 0xE0, 0xA0, 0x60, 0x61, 0xA1,
            0x63, 0xA3, 0xA2, 0x62, 0x66, 0xA6, 0xA7, 0x67, 0xA5, 0x65, 0x64, 0xA4,
            0x6C, 0xAC, 0xAD, 0x6D, 0xAF, 0x6F, 0x6E, 0xAE, 0xAA, 0x6A, 0x6B, 0xAB,
            0x69, 0xA9, 0xA8, 0x68, 0x78, 0xB8, 0xB9, 0x79, 0xBB, 0x7B, 0x7A, 0xBA,
            0xBE, 0x7E, 0x7F, 0xBF, 0x7D, 0xBD, 0xBC, 0x7C, 0xB4, 0x74, 0x75, 0xB5,
            0x77, 0xB7, 0xB6, 0x76, 0x72, 0xB2, 0xB3, 0x73, 0xB1, 0x71, 0x70, 0xB0,
            0x50, 0x90, 0x91, 0x51, 0x93, 0x53, 0x52, 0x92, 0x96, 0x56, 0x57, 0x97,
            0x55, 0x95, 0x94, 0x54, 0x9C, 0x5C, 0x5D, 0x9D, 0x5F, 0x9F, 0x9E, 0x5E,
            0x5A, 0x9A, 0x9B, 0x5B, 0x99, 0x59, 0x58, 0x98, 0x88, 0x48, 0x49, 0x89,
            0x4B, 0x8B, 0x8A, 0x4A, 0x4E, 0x8E, 0x8F, 0x4F, 0x8D, 0x4D, 0x4C, 0x8C,
            0x44, 0x84, 0x85, 0x45, 0x87, 0x47, 0x46, 0x86, 0x82, 0x42, 0x43, 0x83,
            0x41, 0x81, 0x80, 0x40
        };

        //通过逆序CRC16表, 逆序CRC计算
        private byte[] CRC16(byte[] pucFrame, int usLen)     // 传入要校验的数组名及其长度  
        {
            int i = 0;
            byte[] res = new byte[2] { 0xFF, 0xFF };

            ushort iIndex = 0x0000;

            while (usLen-- > 0)
            {
                iIndex = (ushort)(res[0] ^ pucFrame[i++]);
                res[0] = (byte)(res[1] ^ aucCRCHi[iIndex]);
                res[1] = aucCRCLo[iIndex];
            }
            return res;
        }
        #endregion
    }

    #region 数据类型
    /// <summary>
    /// 数据类型
    /// </summary>
    public enum DataFormat
    {
        ABCD,
        BADC,
        CDAB,
        DCBA
    }
    #endregion
}
